Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain

Zhongqi Guo; Ru Lai; Luzheng Bi; Xiaochun Bu

Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain

Zhongqi Guo, Ru Lai^*, Luzheng Bi, Xiaochun Bu

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology

科研成果: 会议稿件 › 论文 › 同行评审

摘要

For the uncalibrated visual servoing system, we present an online estimation method for image Jacobian matrix of robot. In order to improve robustness to noise, we choose the image moments as image features, and estimate the image Jacobian matrix based on Kalman filter. In order to solve the problem of slow convergence of visual error, we introduce an adaptive gain in the control law. We also set a threshold of the infinity norm of the visual error to decrease the camera velocity when visual error is very close to zero. Simulation results demonstrate the validity of our approach.

源语言	英语
出版状态	已出版 - 2018
活动	8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018 - Tengzhou, Shandong, 中国期限: 2 11月 2018 → 6 11月 2018

会议

会议	8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018
国家/地区	中国
市	Tengzhou, Shandong
时期	2/11/18 → 6/11/18

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Guo, Z., Lai, R., Bi, L., & Bu, X. (2018). Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain. 论文发表于 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, 中国.

Guo, Zhongqi ; Lai, Ru ; Bi, Luzheng 等. / Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain. 论文发表于 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, 中国.

@conference{975cd5013f9042f68853e8b9f9608513,

title = "Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain",

abstract = "For the uncalibrated visual servoing system, we present an online estimation method for image Jacobian matrix of robot. In order to improve robustness to noise, we choose the image moments as image features, and estimate the image Jacobian matrix based on Kalman filter. In order to solve the problem of slow convergence of visual error, we introduce an adaptive gain in the control law. We also set a threshold of the infinity norm of the visual error to decrease the camera velocity when visual error is very close to zero. Simulation results demonstrate the validity of our approach.",

keywords = "Adaptive Gain, Image Jacobian Matrix, Image Moments, Kalman Filter",

author = "Zhongqi Guo and Ru Lai and Luzheng Bi and Xiaochun Bu",

note = "Publisher Copyright: {\textcopyright} ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Application.; 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018 ; Conference date: 02-11-2018 Through 06-11-2018",

year = "2018",

language = "English",

}

Guo, Z, Lai, R, Bi, L & Bu, X 2018, 'Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain', 论文发表于 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, 中国, 2/11/18 - 6/11/18.

Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain. / Guo, Zhongqi; Lai, Ru; Bi, Luzheng 等.
2018. 论文发表于 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, 中国.

科研成果: 会议稿件 › 论文 › 同行评审

TY - CONF

T1 - Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain

AU - Guo, Zhongqi

AU - Lai, Ru

AU - Bi, Luzheng

AU - Bu, Xiaochun

N1 - Publisher Copyright: © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Application.

PY - 2018

Y1 - 2018

N2 - For the uncalibrated visual servoing system, we present an online estimation method for image Jacobian matrix of robot. In order to improve robustness to noise, we choose the image moments as image features, and estimate the image Jacobian matrix based on Kalman filter. In order to solve the problem of slow convergence of visual error, we introduce an adaptive gain in the control law. We also set a threshold of the infinity norm of the visual error to decrease the camera velocity when visual error is very close to zero. Simulation results demonstrate the validity of our approach.

AB - For the uncalibrated visual servoing system, we present an online estimation method for image Jacobian matrix of robot. In order to improve robustness to noise, we choose the image moments as image features, and estimate the image Jacobian matrix based on Kalman filter. In order to solve the problem of slow convergence of visual error, we introduce an adaptive gain in the control law. We also set a threshold of the infinity norm of the visual error to decrease the camera velocity when visual error is very close to zero. Simulation results demonstrate the validity of our approach.

KW - Adaptive Gain

KW - Image Jacobian Matrix

KW - Image Moments

KW - Kalman Filter

UR - http://www.scopus.com/inward/record.url?scp=85057986464&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:85057986464

T2 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018

Y2 - 2 November 2018 through 6 November 2018

ER -

Guo Z, Lai R, Bi L, Bu X. Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain. 2018. 论文发表于 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018, Tengzhou, Shandong, 中国.

Online estimation for image Jacobian matrix based on Kalman filter with image moments and adaptive gain

摘要

会议

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